lemlib::Chassis Class Reference

Chassis class. More...

#include <chassis.hpp>

Public Member Functions
	Chassis (Drivetrain_t drivetrain, ChassisController_t lateralSettings, ChassisController_t angularSettings, OdomSensors_t sensors)
	Construct a new Chassis. More...
void	calibrate ()
	Calibrate the chassis sensors. More...
void	setPose (double x, double y, double theta, bool radians=false)
	Set the pose of the chassis. More...
void	setPose (Pose pose, bool radians=false)
	Set the pose of the chassis. More...
Pose	getPose (bool radians=false)
	Get the pose of the chassis. More...
void	turnTo (float x, float y, int timeout, bool reversed=false, float maxSpeed=127, bool log=false)
	Turn the chassis so it is facing the target point. More...
void	moveTo (float x, float y, int timeout, float maxSpeed=200, bool log=false)
	Move the chassis towards the target point. More...
void	follow (const char *filePath, int timeout, float lookahead, bool reverse=false, float maxSpeed=127, bool log=false)
	Move the chassis along a path. More...

Detailed Description

Chassis class.

Constructor & Destructor Documentation

Chassis()

lemlib::Chassis::Chassis	(	Drivetrain_t	drivetrain,
		ChassisController_t	lateralSettings,
		ChassisController_t	angularSettings,
		OdomSensors_t	sensors
	)

Construct a new Chassis.

Parameters

drivetrain	drivetrain to be used for the chassis
lateralSettings	settings for the lateral controller
angularSettings	settings for the angular controller
sensors	sensors to be used for odometry

Member Function Documentation

calibrate()

void lemlib::Chassis::calibrate

(

)

Calibrate the chassis sensors.

follow()

void lemlib::Chassis::follow	(	const char *	filePath,
		int	timeout,
		float	lookahead,
		bool	reverse = false,
		float	maxSpeed = 127,
		bool	log = false
	)

Move the chassis along a path.

Parameters

filePath	file path to the path. No need to preface it with /usd/
timeout	the maximum time the robot can spend moving
lookahead	the lookahead distance. Units in inches. Larger values will make the robot move faster but will follow the path less accurately
reverse	whether the robot should follow the path in reverse. false by default
maxSpeed	the maximum speed the robot can move at
log	whether the chassis should log the path on a log file. false by default.

getPose()

Pose lemlib::Chassis::getPose

(

bool

radians = false

)

Get the pose of the chassis.

Parameters

radians

whether theta should be in radians (true) or degrees (false). false by default

Returns

Pose

moveTo()

void lemlib::Chassis::moveTo	(	float	x,
		float	y,
		int	timeout,
		float	maxSpeed = 200,
		bool	log = false
	)

Move the chassis towards the target point.

The PID logging ids are "angularPID" and "lateralPID"

Parameters

x	x location
y	y location
timeout	longest time the robot can spend moving
maxSpeed	the maximum speed the robot can move at
log	whether the chassis should log the turnTo function. false by default

setPose() [1/2]

void lemlib::Chassis::setPose	(	double	x,
		double	y,
		double	theta,
		bool	radians = false
	)

Set the pose of the chassis.

Parameters

x	new x value
y	new y value
theta	new theta value
radians	true if theta is in radians, false if not. False by default

setPose() [2/2]

void lemlib::Chassis::setPose	(	Pose	pose,
		bool	radians = false
	)

Set the pose of the chassis.

Parameters

pose	the new pose
radians	whether pose theta is in radians (true) or not (false). false by default

turnTo()

void lemlib::Chassis::turnTo	(	float	x,
		float	y,
		int	timeout,
		bool	reversed = false,
		float	maxSpeed = 127,
		bool	log = false
	)

Turn the chassis so it is facing the target point.

The PID logging id is "angularPID"

Parameters

x	x location
y	y location
timeout	longest time the robot can spend moving
reversed	whether the robot should turn in the opposite direction. false by default
maxSpeed	the maximum speed the robot can turn at. Default is 200
log	whether the chassis should log the turnTo function. false by default

---

The documentation for this class was generated from the following file:

• include/lemlib/chassis/chassis.hpp